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冗余度机械臂的二次规划(QP)问题同时受制于等式约束、不等式约束和双端约束,且面向冗余度机械臂实时控制的该类QP问题的求解对运算实时性有较高要求。考虑同时受制于上述三种约束的二次规划问题的求解,给出并研究两种数值算法(E47和94LVI算法)。这类带约束的二次规划问题被等价转换为分段线性投影方程。应用E47和94LVI算法求解上述分段线性投影方程,从而得到二次规划问题的最优数值解。同时,通过大量的数值实验,研究两种算法面向冗余度机械臂的QP问题求解性能,并给出E47、94LVI算法与经典有效集算法的对比实验结果。最终证实了E47和94LVI两种算法在求解二次规划问题上的高效性和优越性。 相似文献
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冗余度机械臂的二次规划(QP)问题同时受制于等式约束、不等式约束和双端约束,且面向冗余度机械臂实时控制的该类QP问题的求解对运算实时性有较高要求.考虑同时受制于上述三种约束的二次规划问题的求解,给出并研究两种数值算法(E47和94LⅥ算法).这类带约束的二次规划问题被等价转换为分段线性投影方程.应用E47和94LⅥ算法求解上述分段线性投影方程,从而得到二次规划问题的最优数值解.同时,通过大量的数值实验,研究两种算法面向冗余度机械臂的QP问题求解性能,并给出E47、94LⅥ算法与经典有效集算法的对比实验结果.最终证实了E47和94LⅥ两种算法在求解二次规划问题上的高效性和优越性. 相似文献
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三峡-葛洲坝联合调度系统闸室编排快速算法 总被引:1,自引:1,他引:1
三峡-葛洲坝两坝联合调度系统是用于提高三峡-葛洲坝航道通航能力的一套系统。两坝联合调度的计划编排是一个与闸室编排相耦合的时间表问题。闸室编排可以用二维Packing模型来描述,是一个典型NP完全问题。提出一种基于分步降维思想的启发式快速编排算法,该算法把闸室编排二维Packing问题降到一维求解。有效解决三峡-葛洲坝联合调度的计划编排中与闸室编排相耦合的时间表问题。该算法在实际工程应用中取得了良好的效果,有效地提高了闸室面积利用率。 相似文献
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一个通用的混合非线性规划问题的演化算法 总被引:8,自引:0,他引:8
提出了一种新的求解非线性规划问题的演化算法,它是在郭涛算法的基础上提出的,新算法的主要特点是引入了变维子空间,加入了子空间搜索过程和规范化约束条件以及增加了处理带等式约束的实数规划,整数规划,0-1规划和混合整数规划问题的功能,使之成为一种求解非线性规划(NLP)问题的通用算法,数值实验表明,新算法不仅是一种通用的算法,而且与已有算法的计算结果相比,其解的精确度也最好。 相似文献
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为实现三维装箱问题的高效求解,提出了一个三维的剩余空间最优化算法(Three-Dimensional Residual-Space-Optimized Algorithm,3D-RSO)。在满足3个著名约束的条件下,该算法将三维问题转化为带有高度约束的二维问题,通过对箱子放置后的剩余空间状态分析,提出了基于概率较优的空间分割方法和箱子布置规则。相比于传统算法,3D-RSO在求解过程中不需要任何的预处理和搜索操作,是一种最坏计算复杂度为[O(2n2)]的直接求解算法。针对强异构体的实验表明,该算法能够在极短的时间内对算例进行高效求解,适合应用在大规模或者需要被快速求解的三维装箱问题中。 相似文献
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在半导体器件模拟程序中,需要求解线性方程组,直接法在矩阵规模较大时逐渐暴露出对存储空间要求过大的缺点,从而导致运算速度的下降,而采用迭代算法,如广义最小偏差算法(GMRES)法,在处理大规模稀疏矩阵时对存储空间要求较小,有效地解决了存储空间不足的问题,并能显著地提高运算速度,迭代算法有望成为新一代器件模拟软件的主流数值计算方法。 相似文献
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Miguel Ayala Botto Ton J. J. Van Den Boom Ardjan Krijgsman Jose Sa Da Costa 《International journal of control》2013,86(17):1538-1554
This paper presents an approach for the constrained non-linear predictive control problem based on the input-output feedback linearization (IOFL) of a general non-linear system modelled by a discrete-time affine neural network model. Using the resulting linear system in the formulation of the original non-linear predictive control problem enables to restate the optimization problem as the minimization of a quadratic function, which solution can be found using reliable and fast quadratic programming (QP) routines. However, the presence of a non-linear feedback linearizing controller maps the original linear input constraints onto non-linear and state dependent constraints on the controller output, which invalidates a direct application of QP routines. In order to cope with this problem and still be able to use QP routines, an approximate method is proposed which simultaneously guarantees a feasible solution without constraints violation over the complete prediction horizon within a finite number of steps, while allowing only for a small performance degradation. 相似文献
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The main scope of this work is the implementation of an MPC that integrates the control and the economic optimization of the system. The two problems are solved simultaneously through the modification of the control cost function that includes an additional term related to the economic objective. The optimizing MPC is based on a quadratic program (QP) as the conventional MPC and can be solved with the available QP solvers. The method was implemented in an industrial distillation system, and the results show that the approach is efficient and can be used, in several practical cases. 相似文献
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动态矩阵控制参数的神经网络优化算法 总被引:2,自引:1,他引:1
动态矩阵控制是一种重要的预测控制算法,适用于具有大纯滞后的工业对象和非最小相位系统,在实际应用中需要确定多个参数。文章提出了一种以限制控制量变化为目标,用神经网络在线优化控制矩阵参数的DMC控制算法。仿真结果验证了该文提出算法的有效性。 相似文献
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Roscoe A. Bartlett Lorenz T. Biegler Johan Backstrom Vipin Gopal 《Journal of Process Control》2002,12(7)
Quadratic programming (QP) methods are an important element in the application of model predictive control (MPC). As larger and more challenging MPC applications are considered, more attention needs to be focused on the construction and tailoring of efficient QP algorithms. In this study, we tailor and apply a new QP method, called QPSchur, to large MPC applications, such as cross directional control problems in paper machines. Written in C++, QPSchur is an object oriented implementation of a novel dual space, Schur complement algorithm. We compare this approach to three widely applied QP algorithms and show that QPSchur is significantly more efficient (up to two orders of magnitude) than the other algorithms. In addition, detailed simulations are considered that demonstrate the importance of the flexible, object oriented construction of QPSchur, along with additional features for constraint handling, warm starts and partial solution. 相似文献
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多变量约束控制器及其在反应再生控制中的应用 总被引:1,自引:0,他引:1
提出了一种改进的多变量约束控制器(MCC)及其在反应再生控制系统中的应用.基于模型预测控制技术的MCC是一种带有约束、多变量和灵活控制任务切换的优化控制器.在优化算法中,使用全局线性规划(GLP)和DMC滚动优化相结合的方式,将经济指标约束和软硬约束有机的结合起来;在控制体系中,多变量约束控制器使用多模块控制结构设计,有效提高了控制器的在大规模控制问题上的运行实时性.在组态体系上,改进后的MCC使用了一个带有C/S体系的分布式数据库作为控制器组态数据载体,使得控制器能够同时提供本地和远程的数据访问,有效提高了工程师的工作效率.实际的反应再生控制结果表明,MCC在石油化工和其他过程控制中有着良好的控制效果. 相似文献
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Schmidl H Milenkovic VJ 《IEEE transactions on visualization and computer graphics》2004,10(2):189-197
A suite of algorithms is presented for contact resolution in rigid body simulation under the Coulomb friction model: Given a set of rigid bodies with many contacts among them, resolve dynamic contacts (collisions) and static (persistent) contacts. The suite consists of four algorithms: 1) partial sequential collision resolution, 2) final resolution of collisions through the solution of a single convex QP (positive semidefinite quadratic program), 3) resolution of static contacts through the solution of a single convex QP, 4) freezing of "stationary" bodies. This suite can generate realistic-looking results for simple examples yet, for the first time, can also tractably resolve contacts for a simulation as large as 1,000 cubes in an "hourglass". Freezing speeds up this simulation by more than 25 times. Thanks to excellent commercial QP technology, the contact resolution suite is simple to implement and can be "plugged into" any simulation algorithm to provide fast and realistic-looking animations of rigid bodies. 相似文献
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This paper proposes a quadratic programming (QP) approach to robust model predictive control (MPC) for constrained linear systems having both model uncertainties and bounded disturbances. To this end, we construct an additional comparison model for worst-case analysis based on a robust control Lyapunov function (RCLF) for the unconstrained system (not necessarily an RCLF in the presence of constraints). This comparison model enables us to transform the given robust MPC problem into a nominal one without uncertain terms. Based on a terminal constraint obtained from the comparison model, we derive a condition for initial states under which the ultimate boundedness of the closed loop is guaranteed without violating state and control constraints. Since this terminal condition is described by linear constraints, the control optimization can be reduced to a QP problem. 相似文献